Transformer substation inspection robot with monitoring alarm device

Abstract

The utility model relates to the technical field of substation inspection robots, in particular to a substation inspection robot with a monitoring alarm device, which comprises an intelligent mobile vehicle, a support plate, a U-shaped frame, a motor, a pinion, a gearwheel, a cross sleeve, a conveyor belt component, a mounting disc, a camera, a lifting component, an image processor and an alarm. The supporting plate is fixed to the top of the intelligent moving vehicle and connected with the U-shaped frame. A motor is mounted at the bottom of the U-shaped frame, a pinion is mounted at the top of the U-shaped frame, and the pinion and a bull gear are meshed and mounted on the cross-shaped sleeve. The top of the large gear is connected with a mounting disc, and a camera is mounted on the mounting disc. Electric cylinder lifting assemblies are arranged on the two sides of the U-shaped frame, and an image processor and an alarm are installed on the other side of the intelligent moving trolley. According to the design, the height and shooting angle of the camera are adjusted through the lifting assembly, the visual blind area problem is solved, the equipment state is analyzed through the image processor, automatic alarm is given after damage is found, and the inspection efficiency and safety are improved.

Description

Technical Field

[0001] This utility model relates to the field of substation inspection robot technology, specifically a substation inspection robot equipped with a monitoring and alarm device. Background Technology

[0002] Substations are used for receiving, distributing, regulating, and reducing electrical energy. Substations are extremely dangerous, so warning signs are posted nearby, and unauthorized personnel are prohibited from entering. Due to the danger of substations, they are built at high altitudes. When problems need to be inspected and repaired, ladders and leg straps are needed to climb to the top for inspection. However, human operation and inspection are very dangerous. With the advancement of technology, more and more dangerous tasks can be done by robots. Cameras are installed on the top of the robots, allowing workers to remotely observe and then quickly carry out maintenance and adjustments.

[0003] In existing technologies, inspection robots typically use cameras to monitor the appearance of substation equipment in real time to detect surface damage, cracks, and other issues. To expand the inspection range and improve monitoring effectiveness, the camera is generally used in conjunction with a 360° rotating pan-tilt unit, which is fixed to the top of the robot, thereby achieving a comprehensive, blind-spot-free inspection of the surrounding environment.

[0004] However, the height of existing inspection robots is usually fixed, and the camera can only rotate horizontally and cannot adjust the tilt angle, which easily creates blind spots. This design makes it difficult for the camera to accurately identify the status of equipment when facing distant or high-altitude equipment, thereby reducing the accuracy and comprehensiveness of monitoring. To address this, this utility model proposes a substation inspection robot with a monitoring and alarm device to solve the above problems. Utility Model Content

[0005] The purpose of this invention is to provide a substation inspection robot with a monitoring and alarm device to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a substation inspection robot with a monitoring and alarm device, comprising: an intelligent mobile vehicle, one side of the top of the intelligent mobile vehicle being fixedly connected to the lower surface of a support plate, the upper surface of the support plate abutting against a U-shaped frame, motors being symmetrically fixedly installed at the bottom of the U-shaped frame, small gears being symmetrically rotatably installed at the top of the U-shaped frame, a large gear meshing between the two small gears, both the small gears and the large gear being rotatably installed on a cross sleeve, the motors and small gears being driven by a conveyor belt assembly, a mounting plate being fixedly connected to the top of the large gear, and cameras being symmetrically fixedly installed on the upper surface of the mounting plate;

[0007] Lifting components are installed on both sides of the U-shaped frame. The lifting components include electric cylinders, and the output end of the electric cylinders is fixedly connected to the side wall of the U-shaped frame.

[0008] An image processor is fixedly installed on the other side of the top of the intelligent mobile vehicle, and an alarm is fixedly installed on one side of the image processor.

[0009] Preferably, a controller is installed on one side of the bottom of the intelligent mobile vehicle, and a signal transmitter is installed on the upper side of the controller. Both the controller and the signal transmitter are fixedly connected to the intelligent mobile vehicle, and the controller and the signal transmitter are electrically connected. A power supply box is installed on the upper side of the signal transmitter.

[0010] Preferably, the power supply box is fixedly installed on one side of the lower surface of the support plate. The camera is electrically connected to the image processor, the image processor is electrically connected to the signal transmitter, the controller is electrically connected to the motor, the electric cylinder, the alarm, and the signal transmitter, and the power supply box is electrically connected to the motor, the camera, the electric cylinder, the image processor, the alarm, the controller, and the signal transmitter.

[0011] Preferably, the conveyor belt assembly includes a small meshing wheel, a large meshing wheel, and a meshing belt, with the small meshing wheel and the large meshing wheel engaging and transmitting power through the meshing belt.

[0012] Preferably, the small meshing wheel is fixedly sleeved on the output end of the motor, and the large meshing wheel is fixedly connected to the small gear through a connecting shaft. One end of the connecting shaft is rotatably sleeved on the top of the U-shaped frame, and the other end of the connecting shaft is rotatably sleeved in the cross sleeve.

[0013] Preferably, a limiting shaft is rotatably sleeved in the middle of the cross sleeve, the top of the limiting shaft is fixedly connected to the large gear, and limiting blocks are fixedly connected to both sides of the bottom of the U-shaped frame. The limiting blocks are slidably sleeved in the limiting rod, and the bottom of the limiting rod is fixedly connected to the support plate.

[0014] Compared with the prior art, the beneficial effects of this utility model are:

[0015] 1. This utility model, through the design of a lifting component and an adjustable tilt angle, can flexibly adjust the height and shooting angle of the camera, effectively solving the problem of blind spots caused by the fixed height of the camera and the ability to rotate only horizontally in the prior art, thereby improving the accuracy and comprehensiveness of equipment monitoring.

[0016] 2. The camera of this utility model can achieve height adjustment and flexible adjustment of shooting direction under different directions through bevel gear meshing and transmission with large gear and small gear. Combined with the analysis function of image processor, it can quickly detect damage, cracks and other problems on the surface of equipment, and issue alarms in a timely manner through the alarm, thereby improving inspection efficiency and safety. Attached Figure Description

[0017] Figure 1This is a schematic diagram of the overall structure of this utility model;

[0018] Figure 2 This is a top view of the overall structure of this utility model;

[0019] Figure 3 This is a bottom view of the overall structure of this utility model;

[0020] Figure 4 This is a schematic diagram of the internal structure of this utility model.

[0021] In the diagram: 1. Intelligent mobile vehicle; 2. Support plate; 3. U-shaped frame; 4. Motor; 5. Small gear; 6. Large gear; 7. Cross sleeve; 8. Camera; 9. Electric cylinder; 10. Image processor; 11. Alarm; 12. Controller; 13. Signal transmitter; 14. Power supply box; 15. Small meshing wheel; 16. Large meshing wheel; 17. Meshing belt; 18. Limiting shaft; 19. Limiting block; 20. Limiting rod; 21. Mounting plate; 22. Connecting shaft. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this utility model clear and complete, the embodiments of this utility model will be further described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only some, not all, embodiments of this utility model, and are merely used to explain the embodiments of this utility model. They are not intended to limit the embodiments of this utility model. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0023] Please see Figures 1 to 4This utility model provides a technical solution: a substation inspection robot with a monitoring and alarm device, including: an intelligent mobile vehicle 1. The intelligent mobile vehicle 1 facilitates the movement of the entire device within the substation. The intelligent mobile vehicle 1 is existing technology and is a parking device that can automatically adjust its position, automatically avoid obstacles, and perform inspections according to the route set by the terminal control device. It typically consists of sensor modules such as lidar and ultrasonic sensors, a central controller, a drive unit, and a communication module. The sensors perceive the surrounding environment in real time, the central controller performs logical operations to achieve obstacle avoidance, and completes inspection tasks according to a preset route. The top of the intelligent mobile vehicle 1 is fixedly connected to the lower surface of the support plate 2. The upper surface of the support plate 2 abuts against the U-shaped frame 3, supporting the U-shaped frame 3. Motors 4 are symmetrically fixedly installed at the bottom of the U-shaped frame 3, and small gears 5 are symmetrically rotatably installed on the top of the U-shaped frame 3. A large gear 6 meshes between the two small gears 5. Both small gears 5 and large gear 6 are rotatably mounted on a cross sleeve 7, which limits their movement. Both large gears 6 and small gears 5 are bevel gears. The motor 4 and small gears 5 are driven by a conveyor belt assembly. A mounting plate 21 is fixedly connected to the top of the large gear 6, and cameras 8 are symmetrically fixedly installed on the upper surface of the mounting plate 21, providing fixed support for the cameras 8. Camera 8 is used to monitor and photograph the equipment inside the substation. Lifting components are set on both sides of the U-shaped frame 3. The lifting components facilitate the lifting and lowering of the U-shaped frame 3, thereby indirectly adjusting the height of camera 8. The lifting components include electric cylinder 9, and the output end of electric cylinder 9 is fixedly connected to the side wall of U-shaped frame 3. An image processor 10 is fixedly installed on the other side of the top of the intelligent mobile vehicle 1. The image processor 10 is existing technology. The working principle of the image processor 10 is to receive the images of the equipment inside the substation captured by camera 8, perform preprocessing operations such as noise reduction, contrast enhancement and deblurring on the images, and then use algorithms such as edge detection, texture analysis and color analysis to extract key features of the equipment surface. Combined with rule algorithms or deep learning models such as convolutional neural networks (CNN), the image processor 10 performs defect detection on the equipment surface and finally marks the problem area. An alarm 11 is fixedly installed on one side of the image processor 10. The alarm 11 is used to issue an alarm to remind the surrounding personnel.

[0024] The inspection route of the intelligent mobile vehicle 1 is set through an external terminal control device. The intelligent mobile vehicle 1 is then activated and begins its inspection within the substation. During the inspection, the camera 8 monitors the equipment inside the substation, and the monitored images are transmitted to the image processor 10. The image processor 10 processes the captured images and analyzes whether there are any damages or cracks on the equipment surface. When a problem is detected, an alarm 11 is triggered, alerting the operator to respond immediately. When the position of the camera 8 needs to be adjusted during the inspection, the motor 4 is controlled, causing it to move under the transmission of the conveyor belt assembly. When the two small gears 5 rotate in the same direction, they will be limited by the cross sleeve 7, which will drive the large gear 6 to move to both sides of the U-shaped frame 3, thereby adjusting the pitch angle of the camera 8 and reducing the monitoring blind spot. When the two small gears 5 rotate in opposite directions, the large gear 6 will rotate under the limit of the cross sleeve 7, thereby adjusting the monitoring direction of the camera 8 and further expanding the monitoring range. In addition, the height of the U-shaped frame 3 can be adjusted by the fixed connection between the electric cylinder 9 and the side wall of the U-shaped frame 3, thereby adjusting the distance between the camera 8 and the equipment, thereby improving the shooting quality of the camera 8 and improving the recognition accuracy of the image processor 10.

[0025] A controller 12 is installed on one side of the bottom of the intelligent mobile vehicle 1. The controller 12 controls various electrical components. A signal transmitter 13 is installed on the upper side of the controller 12. Both the controller 12 and the signal transmitter 13 are fixedly connected to the intelligent mobile vehicle 1. The controller 12 and the signal transmitter 13 are electrically connected. The signal transmitter 13 transmits image analysis information to external terminal devices. A power supply box 14 is installed on the upper side of the signal transmitter 13. The power supply box 14 supplies power to various electrical components to ensure the stable operation of each component. The power supply box 14 is fixedly installed on one side of the lower surface of the support plate 2. The camera 8 is electrically connected to the image processor 10. The image processor 10 is electrically connected to the signal transmitter 13. The controller 12 is electrically connected to the motor 4, the electric cylinder 9, the alarm 11, and the signal transmitter 13. The power supply box 14 is electrically connected to the motor 4, the camera 8, the electric cylinder 9, the image processor 10, the alarm 11, the controller 12, and the signal transmitter 13.

[0026] Camera 8 captures images of the equipment inside the substation and transmits the captured images to image processor 10. Image processor 10 processes the images and analyzes whether there are any damages or cracks on the surface of the equipment. When damage is found, this information is transmitted to signal transmitter 13. Signal transmitter 13 transmits the equipment damage information to external terminal equipment and to controller 12. After receiving the information, controller 12 controls alarm 11 to issue an alarm, reminding surrounding personnel and prompting maintenance personnel to carry out timely repairs.

[0027] The conveyor belt assembly includes a small meshing wheel 15, a large meshing wheel 16, and a meshing belt 17. The small meshing wheel 15 and the large meshing wheel 16 are meshed and driven by the meshing belt 17. The conveyor belt assembly is symmetrically arranged in the U-shaped frame 3. The small meshing wheel 15 is fixedly sleeved on the output end of the motor 4. The large meshing wheel 16 is fixedly connected to the pinion 5 through the connecting shaft 22. One end of the connecting shaft 22 is rotatably sleeved on the top of the U-shaped frame 3, and the other end of the connecting shaft 22 is rotatably sleeved in the cross sleeve 7. A limiting shaft 18 is rotatably sleeved in the middle of the cross sleeve 7. The top of the limiting shaft 18 is fixedly connected to the large gear 6. Limiting blocks 19 are fixedly connected to both sides of the bottom of the U-shaped frame 3. The limiting blocks 19 are slidably sleeved in the limiting rod 20. The bottom of the limiting rod 20 is fixedly connected to the support plate 2.

[0028] During inspection, when the position of camera 8 needs to be adjusted, the controller 12 starts the motor 4. The motor 4 drives the small meshing wheel 15, meshing belt 17, and large meshing wheel 16 through meshing transmission, causing the large meshing wheel 16 to drive the connecting shaft 22. The connecting shaft 22 rotates under the limit of the cross sleeve 7 and the U-shaped frame 3, thereby driving the small gear 5 to rotate. When the motor 4 drives the two small gears 5 to rotate in the same direction, the two small gears 5 mesh with the two sides of the large gear 6. At this time, the large gear 6 does not rotate. Thus, with the cooperation of the cross sleeve 7 and the limit shaft 18, the large gear 6 drives the camera 8 to rotate to both sides of the U-shaped frame 3 through the mounting plate 21. The movement of the motor 4 adjusts the tilt angle of the camera 8. When the motor 4 drives the two small gears 5 to rotate in different directions, the meshing of the small gears 5 and the large gear 6, along with the rotational engagement between the limiting shaft 18 and the cross sleeve 7, causes the large gear 6 to rotate, thereby adjusting the shooting direction of the camera 8. In addition, by controlling the extension of the output end of the electric cylinder 9, the U-shaped frame 3 can be lifted. The sliding engagement between the limiting block 19 at the bottom of the U-shaped frame 3 and the limiting shaft 18 improves the stability of the movement of the U-shaped frame 3, thereby adjusting the distance between the camera 8 and the device, thus improving the shooting quality and facilitating more accurate analysis by the subsequent image processor 10.

[0029] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A substation inspection robot with a monitoring and alarm device, comprising an intelligent mobile vehicle (1), characterized in that: The top side of the intelligent mobile vehicle (1) is fixedly connected to the lower surface of the support plate (2), the upper surface of the support plate (2) abuts against the U-shaped frame (3), the bottom of the U-shaped frame (3) is symmetrically fixedly installed with motors (4), the top of the U-shaped frame (3) is symmetrically rotatably installed with small gears (5), a large gear (6) meshes between the two small gears (5), the small gears (5) and the large gears (6) are rotatably installed on the cross sleeve (7), the motor (4) and the small gears (5) are driven by a conveyor belt assembly, the top of the large gear (6) is fixedly connected with a mounting plate (21), and cameras (8) are symmetrically fixedly installed on the upper surface of the mounting plate (21); Lifting components are provided on both sides of the U-shaped frame (3). The lifting components include electric cylinders (9), and the output end of the electric cylinders (9) is fixedly connected to the side wall of the U-shaped frame (3). An image processor (10) is fixedly installed on the other side of the top of the intelligent mobile vehicle (1), and an alarm (11) is fixedly installed on one side of the image processor (10).

2. The substation inspection robot with a monitoring and alarm device according to claim 1, characterized in that: The intelligent mobile vehicle (1) has a controller (12) on one side of its bottom and a signal transmitter (13) on the upper side of the controller (12). The controller (12) and the signal transmitter (13) are fixedly connected to the intelligent mobile vehicle (1). The controller (12) and the signal transmitter (13) are electrically connected. A power supply box (14) is provided on the upper side of the signal transmitter (13).

3. A substation inspection robot with a monitoring and alarm device according to claim 2, characterized in that: The power supply box (14) is fixedly installed on one side of the lower surface of the support plate (2). The camera (8) is electrically connected to the image processor (10), the image processor (10) is electrically connected to the signal transmitter (13), the controller (12) is electrically connected to the motor (4), the electric cylinder (9), the alarm (11), and the signal transmitter (13). The power supply box (14) is electrically connected to the motor (4), the camera (8), the electric cylinder (9), the image processor (10), the alarm (11), the controller (12), and the signal transmitter (13).

4. A substation inspection robot with a monitoring and alarm device according to claim 1, characterized in that: The conveyor belt assembly includes a small meshing wheel (15), a large meshing wheel (16), and a meshing belt (17). The small meshing wheel (15) and the large meshing wheel (16) are meshed and driven by the meshing belt (17).

5. A substation inspection robot with a monitoring and alarm device according to claim 4, characterized in that: The small meshing wheel (15) is fixedly sleeved on the output end of the motor (4), and the large meshing wheel (16) is fixedly connected to the small gear (5) through the connecting shaft (22). One end of the connecting shaft (22) is rotatably sleeved on the top of the U-shaped frame (3), and the other end of the connecting shaft (22) is rotatably sleeved in the cross sleeve (7).

6. A substation inspection robot with a monitoring and alarm device according to claim 5, characterized in that: The cross sleeve (7) is rotatably fitted with a limiting shaft (18) in the middle. The top of the limiting shaft (18) is fixedly connected to the large gear (6). The bottom two side walls of the U-shaped frame (3) are fixedly connected with limiting blocks (19). The limiting blocks (19) are slidably fitted inside the limiting rod (20). The bottom of the limiting rod (20) is fixedly connected to the support plate (2).

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